debian/changelog: release package version 0.4-1

[kinect-audio-setup.git] / kinect_upload_fw / kinect_upload_fw.c

diff --git a/kinect_upload_fw/kinect_upload_fw.c b/kinect_upload_fw/kinect_upload_fw.c
index 1466ccd..b258ba0 100644 (file)
--- a/kinect_upload_fw/kinect_upload_fw.c
+++ b/kinect_upload_fw/kinect_upload_fw.c
@@ -32,11 +32,21 @@
 #include <stdio.h>
 #include <unistd.h>
 #include <stdlib.h>
 #include <stdio.h>
 #include <unistd.h>
 #include <stdlib.h>

+#include <string.h>

 #include <errno.h>
 #include <libusb.h>
 
 #include <errno.h>
 #include <libusb.h>
 

+#include "endian.h"
+
+#define KINECT_AUDIO_VID           0x045e
+#define KINECT_AUDIO_PID           0x02ad
+#define KINECT_AUDIO_CONFIGURATION 1
+#define KINECT_AUDIO_INTERFACE     0
+#define KINECT_AUDIO_IN_EP         0x81
+#define KINECT_AUDIO_OUT_EP        0x01
+

 static libusb_device_handle *dev;
 static libusb_device_handle *dev;

-int seq;
+static unsigned int seq;

 
 typedef struct {
        uint32_t magic;
 
 typedef struct {
        uint32_t magic;


@@ -54,89 +64,82 @@ typedef struct {
 } status_code;
 
 #define LOG(...) printf(__VA_ARGS__)
 } status_code;
 
 #define LOG(...) printf(__VA_ARGS__)

+
+#if __BYTE_ORDER == __BIG_ENDIAN
+static inline uint32_t fn_le32(uint32_t d)
+{
+       return (d<<24) | ((d<<8)&0xFF0000) | ((d>>8)&0xFF00) | (d>>24);
+}
+#else

 #define fn_le32(x) (x)
 #define fn_le32(x) (x)

-// TODO: support architectures that aren't little-endian
+#endif

 
 

-void dump_bl_cmd(bootloader_command cmd) {
+static void dump_bl_cmd(bootloader_command cmd) {

        int i;
        int i;

-       for(i = 0; i < 24; i++)
+       for (i = 0; i < 24; i++)

                LOG("%02X ", ((unsigned char*)(&cmd))[i]);
        LOG("\n");
 }
 
                LOG("%02X ", ((unsigned char*)(&cmd))[i]);
        LOG("\n");
 }
 

-int get_first_reply() {
+static int get_first_reply(void) {

        unsigned char buffer[512];
        int res;
        unsigned char buffer[512];
        int res;

-       int transferred;
-       res = libusb_bulk_transfer(dev, 0x81, buffer, 512, &transferred, 0);
-       if(res != 0 ) {
+
+       int transferred = 0;
+       res = libusb_bulk_transfer(dev, KINECT_AUDIO_IN_EP, buffer, 512, &transferred, 0);
+       if (res != 0 ) {

                LOG("Error reading first reply: %d\ttransferred: %d (expected %d)\n", res, transferred, 0x60);
                return res;
        }
        LOG("Reading first reply: ");
        int i;
                LOG("Error reading first reply: %d\ttransferred: %d (expected %d)\n", res, transferred, 0x60);
                return res;
        }
        LOG("Reading first reply: ");
        int i;

-       for(i = 0; i < transferred; ++i) {
+       for (i = 0; i < transferred; ++i) {

                LOG("%02X ", buffer[i]);
        }
        LOG("\n");
        return res;
 }
 
                LOG("%02X ", buffer[i]);
        }
        LOG("\n");
        return res;
 }
 

-
-int get_reply() {
-       unsigned char dump[512];
-       status_code buffer = ((status_code*)dump)[0];
+static int get_reply(void) {
+       union {
+               status_code buffer;
+               /* The following is needed because libusb_bulk_transfer might
+                * fail when working on a buffer smaller than 512 bytes.
+                */
+               unsigned char dump[512];
+       } reply;

        int res;
        int res;

-       int transferred;
-       res = libusb_bulk_transfer(dev, 0x81, (unsigned char*)&buffer, 512, &transferred, 0);
-       if(res != 0 || transferred != sizeof(status_code)) {
-               LOG("Error reading reply: %d\ttransferred: %d (expected %d)\n", res, transferred, sizeof(status_code));
+       int transferred = 0;
+
+       res = libusb_bulk_transfer(dev, KINECT_AUDIO_IN_EP, reply.dump, 512, &transferred, 0);
+       if (res != 0 || transferred != sizeof(status_code)) {
+               LOG("Error reading reply: %d\ttransferred: %d (expected %zu)\n", res, transferred, sizeof(status_code));

                return res;
        }
                return res;
        }

-       if(fn_le32(buffer.magic) != 0x0a6fe000) {
-               LOG("Error reading reply: invalid magic %08X\n",buffer.magic);
+       if (fn_le32(reply.buffer.magic) != 0x0a6fe000) {
+               LOG("Error reading reply: invalid magic %08X\n", reply.buffer.magic);

                return -1;
        }
                return -1;
        }

-       if(fn_le32(buffer.seq) != seq) {
-               LOG("Error reading reply: non-matching sequence number %08X (expected %08X)\n", buffer.seq, seq);
+       if (fn_le32(reply.buffer.seq) != seq) {
+               LOG("Error reading reply: non-matching sequence number %08X (expected %08X)\n", reply.buffer.seq, seq);

                return -1;
        }
                return -1;
        }

-       if(fn_le32(buffer.status) != 0) {
-               LOG("Notice reading reply: last uint32_t was nonzero: %d\n", buffer.status);
+       if (fn_le32(reply.buffer.status) != 0) {
+               LOG("Notice reading reply: last uint32_t was nonzero: %d\n", reply.buffer.status);

        }
        }

-       
+

        LOG("Reading reply: ");
        int i;
        LOG("Reading reply: ");
        int i;

-       for(i = 0; i < transferred; ++i) {
-               LOG("%02X ", ((unsigned char*)(&buffer))[i]);
+       for (i = 0; i < transferred; ++i) {
+               LOG("%02X ", reply.dump[i]);

        }
        LOG("\n");
        }
        LOG("\n");

-       
+

        return res;
 }
 
        return res;
 }
 

-int main(int argc, char** argv) {
-       char* filename = "firmware.bin";
-       if (argc == 2) {
-               filename = argv[1];
-       }
-       FILE* fw = fopen(filename, "r");
-       if(fw == NULL) {
-               fprintf(stderr, "Failed to open %s: error %d", filename, errno);
-               return errno;
-       }
-
-       libusb_init(NULL);
-       libusb_set_debug(0,3);
-       dev = libusb_open_device_with_vid_pid(NULL, 0x045e, 0x02ad);
-
-       if(dev == NULL) {
-               printf("Couldn't open device.\n");
-               return 1;
-       }
-
-       libusb_set_configuration(dev, 1);
-       libusb_claim_interface(dev, 0);
+static int upload_firmware(FILE *fw) {
+       int res;

 
        seq = 1;
 
 
        seq = 1;
 


@@ -150,50 +153,74 @@ int main(int argc, char** argv) {
 
        LOG("About to send: ");
        dump_bl_cmd(cmd);
 
        LOG("About to send: ");
        dump_bl_cmd(cmd);

-       int res;
-       int transferred;

 
 

-       res = libusb_bulk_transfer(dev, 1, (unsigned char*)&cmd, sizeof(cmd), &transferred, 0);
-       if(res != 0 || transferred != sizeof(cmd)) {
-               LOG("Error: res: %d\ttransferred: %d (expected %d)\n",res, transferred, sizeof(cmd));
-               goto cleanup;
+       int transferred = 0;
+
+       res = libusb_bulk_transfer(dev, KINECT_AUDIO_OUT_EP, (unsigned char *)&cmd, sizeof(cmd), &transferred, 0);
+       if (res != 0 || transferred != sizeof(cmd)) {
+               LOG("Error: res: %d\ttransferred: %d (expected %zu)\n", res, transferred, sizeof(cmd));
+               goto out;
+       }
+
+       // This first one doesn't have the usual magic bytes at the beginning,
+       // and is 96 bytes long - much longer than the usual 12-byte replies.
+       res = get_first_reply();
+       if (res < 0) {
+               LOG("get_first_reply() failed");
+               goto out;
+       }
+
+       // I'm not sure why we do this twice here, but maybe it'll make sense
+       // later.
+       res = get_reply();
+       if (res < 0) {
+               LOG("First get_reply() failed");
+               goto out;

        }
        }

-       res = get_first_reply(); // This first one doesn't have the usual magic bytes at the beginning, and is 96 bytes long - much longer than the usual 12-byte replies.
-       res = get_reply(); // I'm not sure why we do this twice here, but maybe it'll make sense later.

        seq++;
 
        seq++;
 

-       uint32_t addr = 0x00080000;
-       char page[0x4000];
+       // Split addr declaration and assignment in order to compile as C++,
+       // otherwise this would give "jump to label '...' crosses initialization"
+       // errors.
+       uint32_t addr;
+       addr = 0x00080000;
+       unsigned char page[0x4000];

        int read;
        do {
        int read;
        do {

-               read = fread(page, 1, 0x4000, fw);
-               if(read <= 0) {
+               read = (int)fread(page, 1, 0x4000, fw);
+               if (read <= 0) {

                        break;
                }
                //LOG("");
                cmd.seq = fn_le32(seq);
                        break;
                }
                //LOG("");
                cmd.seq = fn_le32(seq);

-               cmd.bytes = fn_le32(read);
+               cmd.bytes = fn_le32((unsigned int)read);

                cmd.cmd = fn_le32(0x03);
                cmd.write_addr = fn_le32(addr);
                LOG("About to send: ");
                dump_bl_cmd(cmd);
                // Send it off!
                cmd.cmd = fn_le32(0x03);
                cmd.write_addr = fn_le32(addr);
                LOG("About to send: ");
                dump_bl_cmd(cmd);
                // Send it off!

-               res = libusb_bulk_transfer(dev, 1, (unsigned char*)&cmd, sizeof(cmd), &transferred, 0);
-               if(res != 0 || transferred != sizeof(cmd)) {
-                       LOG("Error: res: %d\ttransferred: %d (expected %d)\n",res, transferred, sizeof(cmd));
-                       goto cleanup;
+               transferred = 0;
+               res = libusb_bulk_transfer(dev, KINECT_AUDIO_OUT_EP, (unsigned char *)&cmd, sizeof(cmd), &transferred, 0);
+               if (res != 0 || transferred != sizeof(cmd)) {
+                       LOG("Error: res: %d\ttransferred: %d (expected %zu)\n", res, transferred, sizeof(cmd));
+                       goto out;

                }
                int bytes_sent = 0;
                }
                int bytes_sent = 0;

-               while(bytes_sent < read) {
+               while (bytes_sent < read) {

                        int to_send = (read - bytes_sent > 512 ? 512 : read - bytes_sent);
                        int to_send = (read - bytes_sent > 512 ? 512 : read - bytes_sent);

-                       res = libusb_bulk_transfer(dev, 1, &page[bytes_sent], to_send, &transferred, 0);
-                       if(res != 0 || transferred != to_send) {
-                               LOG("Error: res: %d\ttransferred: %d (expected %d)\n",res, transferred, to_send);
-                               goto cleanup;
+                       transferred = 0;
+                       res = libusb_bulk_transfer(dev, KINECT_AUDIO_OUT_EP, &page[bytes_sent], to_send, &transferred, 0);
+                       if (res != 0 || transferred != to_send) {
+                               LOG("Error: res: %d\ttransferred: %d (expected %d)\n", res, transferred, to_send);
+                               goto out;

                        }
                        bytes_sent += to_send;
                }
                res = get_reply();
                        }
                        bytes_sent += to_send;
                }
                res = get_reply();

+               if (res < 0) {
+                       LOG("get_reply failed");
+                       goto out;
+               }

 
                addr += (uint32_t)read;
                seq++;
 
                addr += (uint32_t)read;
                seq++;


@@ -204,18 +231,109 @@ int main(int argc, char** argv) {
        cmd.cmd = fn_le32(0x04);
        cmd.write_addr = fn_le32(0x00080030);
        dump_bl_cmd(cmd);
        cmd.cmd = fn_le32(0x04);
        cmd.write_addr = fn_le32(0x00080030);
        dump_bl_cmd(cmd);

-       res = libusb_bulk_transfer(dev, 1, (unsigned char*)&cmd, sizeof(cmd), &transferred, 0);
-       if(res != 0 || transferred != sizeof(cmd)) {
-               LOG("Error: res: %d\ttransferred: %d (expected %d)\n", res, transferred, sizeof(cmd));
-               goto cleanup;
+       transferred = 0;
+       res = libusb_bulk_transfer(dev, KINECT_AUDIO_OUT_EP, (unsigned char *)&cmd, sizeof(cmd), &transferred, 0);
+       if (res != 0 || transferred != sizeof(cmd)) {
+               LOG("Error: res: %d\ttransferred: %d (expected %zu)\n", res, transferred, sizeof(cmd));
+               goto out;

        }
        res = get_reply();
        seq++;
        }
        res = get_reply();
        seq++;

+
+out:
+       return res;
+}
+
+int main(int argc, char *argv[]) {
+       char default_filename[] = "firmware.bin";
+       char *filename = default_filename;
+       int ret = 0;
+
+       if (argc == 2) {
+               filename = argv[1];
+       }
+
+       FILE *fw = fopen(filename, "rb");
+       if (fw == NULL) {
+               fprintf(stderr, "Failed to open %s: %s\n", filename, strerror(errno));
+               return -errno;
+       }
+
+       ret = libusb_init(NULL);
+       if (ret < 0) {
+               fprintf(stderr, "libusb_init failed: %s\n",
+                       libusb_error_name(ret));
+               goto out;
+       }
+
+       libusb_set_debug(NULL, 3);
+
+       dev = libusb_open_device_with_vid_pid(NULL, KINECT_AUDIO_VID, KINECT_AUDIO_PID);
+       if (dev == NULL) {
+               fprintf(stderr, "libusb_open failed: %s\n", strerror(errno));
+               ret = -errno;
+               goto out_libusb_exit;
+       }
+
+       int current_configuration = -1;
+       ret = libusb_get_configuration(dev, &current_configuration);
+       if (ret < 0) {
+               fprintf(stderr, "libusb_get_configuration failed: %s\n",
+                       libusb_error_name(ret));
+               goto out_libusb_close;
+       }
+
+       if (current_configuration != KINECT_AUDIO_CONFIGURATION) {
+               ret = libusb_set_configuration(dev, KINECT_AUDIO_CONFIGURATION);
+               if (ret < 0) {
+                       fprintf(stderr, "libusb_set_configuration failed: %s\n",
+                               libusb_error_name(ret));
+                       fprintf(stderr, "Cannot set configuration %d\n",
+                               KINECT_AUDIO_CONFIGURATION);
+                       goto out_libusb_close;
+               }
+       }
+
+       libusb_set_auto_detach_kernel_driver(dev, 1);
+
+       ret = libusb_claim_interface(dev, KINECT_AUDIO_INTERFACE);
+       if (ret < 0) {
+               fprintf(stderr, "libusb_claim_interface failed: %s\n",
+                       libusb_error_name(ret));
+               fprintf(stderr, "Cannot claim interface %d\n",
+                       KINECT_AUDIO_INTERFACE);
+               goto out_libusb_close;
+       }
+
+       /* 
+        * Checking that the configuration has not changed, as suggested in
+        * http://libusb.sourceforge.net/api-1.0/caveats.html
+        */
+       current_configuration = -1;
+       ret = libusb_get_configuration(dev, &current_configuration);
+       if (ret < 0) {
+               fprintf(stderr, "libusb_get_configuration after claim failed: %s\n",
+                       libusb_error_name(ret));
+               goto out_libusb_release_interface;
+       }
+
+       if (current_configuration != KINECT_AUDIO_CONFIGURATION) {
+               fprintf(stderr, "libusb configuration changed (expected: %d, current: %d)\n",
+                       KINECT_AUDIO_CONFIGURATION, current_configuration);
+               ret = -EINVAL;
+               goto out_libusb_release_interface;
+       }
+
+       ret = upload_firmware(fw);

        // Now the device reenumerates.
        // Now the device reenumerates.

-       
-cleanup:
+
+out_libusb_release_interface:
+       libusb_release_interface(dev, KINECT_AUDIO_INTERFACE);
+out_libusb_close:

        libusb_close(dev);
        libusb_close(dev);

+out_libusb_exit:

        libusb_exit(NULL);
        libusb_exit(NULL);

-       return 0;
+out:
+       fclose(fw);
+       return ret;

 }
 }

-